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#pragma once
#include <stdint.h>
namespace iflytop {using namespace std;
#define REG_INDEX(type, offset, subconfigindex) (type * 100 + offset + subconfigindex)
typedef enum { /*******************************************************************************
* 模块通用配置和状态 * *******************************************************************************/ kreg_module_version = REG_INDEX(0, 0, 0), // 模块版本
kreg_module_type = REG_INDEX(0, 0, 1), // 模块类型
kreg_module_status = REG_INDEX(0, 0, 2), // 0idle,1busy,2error
kreg_module_errorcode = REG_INDEX(0, 0, 3), // inited_flag
/*******************************************************************************
* SENSOR * *******************************************************************************/ kreg_sensor_temperature0 = REG_INDEX(2, 0, 0), // 温度1
kreg_sensor_temperature1 = REG_INDEX(2, 0, 1), // 温度2
kreg_sensor_temperature2 = REG_INDEX(2, 0, 2), // 温度3
kreg_sensor_temperature3 = REG_INDEX(2, 0, 3), // 温度4
/*******************************************************************************
* 机械人通用配置 * *******************************************************************************/
/*******************************************************************************
* MOTOR_X * *******************************************************************************/
/*******************************************************************************
* PID控制器(3000->4000) * *******************************************************************************/ kreg_pid_target = REG_INDEX(30, 0, 0), // 目标数值
kreg_pid_nowoutput = REG_INDEX(30, 0, 1), // 当前输出
kreg_pid_feedbackval = REG_INDEX(30, 0, 2), // 当前输出
kreg_pid_kp = REG_INDEX(30, 50, 0), // kp
kreg_pid_ki = REG_INDEX(30, 50, 1), // ki
kreg_pid_kd = REG_INDEX(30, 50, 2), // kd
kreg_pid_max_output = REG_INDEX(30, 50, 3), // 最大输出
kreg_pid_min_output = REG_INDEX(30, 50, 4), // 最小输出
kreg_pid_max_integral = REG_INDEX(30, 50, 5), // 最大积分
kreg_pid_min_integral = REG_INDEX(30, 50, 6), // 最小积分
kreg_error_limit = REG_INDEX(30, 50, 7), // 误差限制
kreg_compute_interval = REG_INDEX(30, 50, 8), // 计算间隔
/*******************************************************************************
* 风扇控制 * *******************************************************************************/ kreg_fan0_ctrl_speed_level = REG_INDEX(31, 0, 0), // 风扇转速0,1,2,3
kreg_fan1_ctrl_speed_level = REG_INDEX(31, 0, 1), // 风扇转速0,1,2,3
kreg_fan2_ctrl_speed_level = REG_INDEX(31, 0, 2), // 风扇转速0,1,2,3
kreg_fan3_ctrl_speed_level = REG_INDEX(31, 0, 3), // 风扇转速0,1,2,3
kreg_fan4_ctrl_speed_level = REG_INDEX(31, 0, 4), // 风扇转速0,1,2,3
kreg_fan0_speed_level = REG_INDEX(31, 10, 0), // 风扇实时转速0,1,2,3
kreg_fan1_speed_level = REG_INDEX(31, 10, 1), // 风扇实时转速0,1,2,3
kreg_fan2_speed_level = REG_INDEX(31, 10, 2), // 风扇实时转速0,1,2,3
kreg_fan3_speed_level = REG_INDEX(31, 10, 3), // 风扇实时转速0,1,2,3
kreg_fan4_speed_level = REG_INDEX(31, 10, 4), // 风扇实时转速0,1,2,3
kreg_pwm_pump0_ctrl_speed_level = REG_INDEX(32, 0, 0), // PWM水泵0,1,2,3
kreg_pwm_pump1_ctrl_speed_level = REG_INDEX(32, 0, 1), // PWM水泵0,1,2,3
kreg_pwm_pump2_ctrl_speed_level = REG_INDEX(32, 0, 2), // PWM水泵0,1,2,3
kreg_pwm_pump3_ctrl_speed_level = REG_INDEX(32, 0, 3), // PWM水泵0,1,2,3
kreg_pwm_pump4_ctrl_speed_level = REG_INDEX(32, 0, 4), // PWM水泵0,1,2,3
kreg_pwm_pump0_speed_level = REG_INDEX(32, 10, 0), // PWM水泵0,1,2,3
kreg_pwm_pump1_speed_level = REG_INDEX(32, 10, 1), // PWM水泵0,1,2,3
kreg_pwm_pump2_speed_level = REG_INDEX(32, 10, 2), // PWM水泵0,1,2,3
kreg_pwm_pump3_speed_level = REG_INDEX(32, 10, 3), // PWM水泵0,1,2,3
kreg_pwm_pump4_speed_level = REG_INDEX(32, 10, 4), // PWM水泵0,1,2,3
/*******************************************************************************
* 移液枪状态 * *******************************************************************************/ kreg_pipette_pos_ul = REG_INDEX(40, 0, 0), // 移液枪位置
kreg_pipette_capactitance_val = REG_INDEX(40, 0, 1), // 移液枪电容值
kreg_pipette_tip_state = REG_INDEX(40, 0, 2), // 移动液枪tip状态
kreg_pipette_limit_ul = REG_INDEX(40, 50, 0), // 移液枪ul限制
/*******************************************************************************
* smartADC * *******************************************************************************/ kreg_self_reflecting_laser_sensor_transmitting_power = REG_INDEX(41, 0, 0), // 发射功率
kreg_self_reflecting_laser_sensor_receiving_tube_gain = REG_INDEX(41, 0, 1), // 接收管放大倍数
kreg_self_reflecting_laser_sensor_sample_interval_ms = REG_INDEX(41, 0, 2), // 采样率
kreg_self_reflecting_laser_sensor_num_samples = REG_INDEX(41, 0, 3), // 采样点数
// scan action
kreg_boditech_optical_scan_type = REG_INDEX(42, 0, 0), // 0 t光学，1 f光学
kreg_boditech_optical_scan_start_pos = REG_INDEX(42, 0, 1), kreg_boditech_optical_scan_direction = REG_INDEX(42, 0, 2), kreg_boditech_optical_scan_step_interval = REG_INDEX(42, 0, 3), kreg_boditech_optical_scan_pointnum = REG_INDEX(42, 0, 4), kreg_boditech_optical_channel_select_num = REG_INDEX(42, 0, 5), kreg_boditech_optical_laster_gain = REG_INDEX(42, 0, 6), kreg_boditech_optical_scan_gain = REG_INDEX(42, 0, 7), kreg_boditech_optical_trf_uvled_on_duration_us = REG_INDEX(42, 0, 8), kreg_boditech_optical_trf_uvled_off_duration_us = REG_INDEX(42, 0, 9), kreg_boditech_optical_trf_scan_delay_us = REG_INDEX(42, 0, 10), kreg_boditech_optical_trf_scan_duration_us = REG_INDEX(42, 0, 11), kreg_boditech_optical_scan_gain_adjust_suggestion = REG_INDEX(42, 0, 12), kreg_boditech_optical_adc_result_overflow = REG_INDEX(42, 0, 13), kreg_boditech_optical_laster_intensity = REG_INDEX(42, 0, 14),
//
kreg_laster_scaner_scan_type = REG_INDEX(43, 0, 0), // 0 t光学，1 f光学
kreg_laster_scaner_scan_start_pos = REG_INDEX(43, 0, 1), kreg_laster_scaner_scan_direction = REG_INDEX(43, 0, 2), kreg_laster_scaner_scan_step_interval = REG_INDEX(43, 0, 3), kreg_laster_scaner_scan_pointnum = REG_INDEX(43, 0, 4), kreg_laster_scaner_laster_gain = REG_INDEX(43, 0, 5), kreg_laster_scaner_scan_gain = REG_INDEX(43, 0, 6),
kreg_laster_scaner_scan_gain_adjust_suggestion = REG_INDEX(43, 0, 12), kreg_laster_scaner_adc_result_overflow = REG_INDEX(43, 0, 13), kreg_laster_scaner_laster_intensity = REG_INDEX(43, 0, 14),
/***********************************************************************************************************************
* XYROBOT * ***********************************************************************************************************************/
kreg_xyrobot_default_velocity = REG_INDEX(100, 0, 0), kreg_xyrobot_default_acc = REG_INDEX(100, 0, 1), kreg_xyrobot_default_dec = REG_INDEX(100, 0, 2), kreg_xyrobot_default_break_dec = REG_INDEX(100, 0, 3), kreg_xyrobot_run_to_zero_speed = REG_INDEX(100, 0, 4), kreg_xyrobot_run_to_zero_dec = REG_INDEX(100, 0, 5), kreg_xyrobot_look_zero_edge_speed = REG_INDEX(100, 0, 6), kreg_xyrobot_look_zero_edge_dec = REG_INDEX(100, 0, 7), kreg_xyrobot_ihold = REG_INDEX(100, 0, 8), kreg_xyrobot_irun = REG_INDEX(100, 0, 9), kreg_xyrobot_iholddelay = REG_INDEX(100, 0, 10),
kreg_xyrobot_robot_type = REG_INDEX(100, 50, 0), // 机器人类型 0:hbot 1:corexy
kreg_xyrobot_x_shift = REG_INDEX(100, 50, 1), // x偏移
kreg_xyrobot_y_shift = REG_INDEX(100, 50, 2), // y偏移
kreg_xyrobot_x_shaft = REG_INDEX(100, 50, 3), // x轴是否反转
kreg_xyrobot_y_shaft = REG_INDEX(100, 50, 4), // y轴是否反转
kreg_xyrobot_x_one_circle_pulse = REG_INDEX(100, 50, 5), // x轴一圈脉冲数
kreg_xyrobot_y_one_circle_pulse = REG_INDEX(100, 50, 6), // y轴一圈脉冲数
kreg_xyrobot_run_to_zero_max_x_d = REG_INDEX(100, 50, 7), // x轴回零最大距离
kreg_xyrobot_run_to_zero_max_y_d = REG_INDEX(100, 50, 8), // y轴回零最大距离
kreg_xyrobot_look_zero_edge_max_x_d = REG_INDEX(100, 50, 9), // x轴找零边缘最大距离
kreg_xyrobot_look_zero_edge_max_y_d = REG_INDEX(100, 50, 10), // y轴找零边缘最大距离
kreg_xyrobot_io_state0 = REG_INDEX(100, 50, 11), // IO状态
kreg_xyrobot_io_state1 = REG_INDEX(100, 50, 12), // IO状态
/***********************************************************************************************************************
* step_motor * ***********************************************************************************************************************/ kreg_step_motor_pos = REG_INDEX(101, 0, 1), // 机器人x坐标
kreg_step_motor_dpos = REG_INDEX(101, 0, 3), // 执行完上一条指令后的相对位移
kreg_step_motor_shift = REG_INDEX(101, 50, 0), // x偏移
kreg_step_motor_shaft = REG_INDEX(101, 50, 1), // x轴是否反转
kreg_step_motor_one_circle_pulse = REG_INDEX(101, 50, 2), // x轴一圈脉冲数
kreg_step_motor_one_circle_pulse_denominator = REG_INDEX(101, 50, 3), // 设置一圈脉冲数的分母
kreg_step_motor_default_velocity = REG_INDEX(101, 50, 4), // 默认速度
kreg_step_motor_default_acc = REG_INDEX(101, 50, 5), // 默认加速度
kreg_step_motor_default_dec = REG_INDEX(101, 50, 6), // 默认减速度
kreg_step_motor_default_break_dec = REG_INDEX(101, 50, 7), // 默认减速度
kreg_step_motor_ihold = REG_INDEX(101, 50, 8), // 步进电机电流配置
kreg_step_motor_irun = REG_INDEX(101, 50, 9), // 步进电机电流配置
kreg_step_motor_iholddelay = REG_INDEX(101, 50, 10), // 步进电机电流配置
kreg_step_motor_iglobalscaler = REG_INDEX(101, 50, 11), // 步进电机电流配置
kreg_step_motor_run_to_zero_max_d = REG_INDEX(101, 50, 21), // x轴回零最大距离
kreg_step_motor_look_zero_edge_max_d = REG_INDEX(101, 50, 22), // x轴找零边缘最大距离
kreg_step_motor_run_to_zero_speed = REG_INDEX(101, 50, 23), // 回零速度
kreg_step_motor_run_to_zero_dec = REG_INDEX(101, 50, 24), // 回零减速度
kreg_step_motor_look_zero_edge_speed = REG_INDEX(101, 50, 25), // 找零边缘速度
kreg_step_motor_look_zero_edge_dec = REG_INDEX(101, 50, 26), // 找零边缘减速度
kreg_step_motor_max_d = REG_INDEX(101, 50, 28), // 最大限制距离
kreg_step_motor_min_d = REG_INDEX(101, 50, 29), // 最小限制距离
/***********************************************************************************************************************
* MINI_STEP_MOTOR * ***********************************************************************************************************************/
kreg_mini_servo_pos = REG_INDEX(102, 0, 1), // 位置
kreg_mini_servo_limit_velocity = REG_INDEX(102, 50, 1), // 限制速度
kreg_mini_servo_limit_torque = REG_INDEX(102, 50, 2), // 限制扭矩
kreg_mini_servo_protective_torque = REG_INDEX(102, 50, 3), // 保护扭矩
/***********************************************************************************************************************
* BOARD * ***********************************************************************************************************************/} reg_index_t;
typedef struct { int index; const char* regname;} reginfo_t;
const char* regindex2str(int32_t code);reginfo_t* reg_get_table();int reg_get_table_size();
} // namespace iflytop
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